2 Answers
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The fingerprinting by UK Immigration on arrival is called "Secure ID". It is used for people travelling on UK Visas or UK Biometric Residence Permits who will have provided their biometrics (fingerprints) when applying for their Visa or Entry Clearance. The machine compares the person's prints to those on file. Only two digits are compared, usually thumb and index finger.If the prints don't match the Officer will ask you to wait while they check your Visa/Entry Clearance application (on-line) to perhaps ask you some verification questions (eg purpose, dates etc). People who do not require Visas visiting the UK as 'Visitors' do not use 'Secure ID' as UK Immigration has not got your fingerprints on file. There is another circumstance too. If you are required to undergo further questioning and are placed in a secure holding room then all your fingerprints will be captured on a separate system along with a photo.

Unless you're somehow distinctive, or have interesting information in the UKVI computer, the answer is "no." You'll pass through UK Immigration in the Gare du Nord, Paris, before you're allowed to board the train.

@user97176 That's a little strange. How many hours do they usually detain you? Do you know why you are detained?
– Michael HamptonMay 7 at 22:01

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@MichaelHampton I've always been fingerprinted at Heathrow, even when I had a business visa to the UK. I've never been detained and don't have any criminal record. It might be because I was born in Iran.
– user97176May 7 at 22:04

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@user97176 Wow, you're the first person I've ever heard of who was routinely fingerprinted while entering the UK. I have only ever heard of people being fingerprinted who were detained for some reason. They never explained to you why they were doing it? Can you tell anything else about this process?
– Michael HamptonMay 7 at 22:12

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@user97176 this is getting really interesting, perhaps a question-self answer is in order. I know about fingerprinting during boarding findbiometrics.com/biometric-screening-heathrow-404102 but for immigration purposes, I never heard of any country but the USA doing that.
– chxMay 7 at 22:20

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As far as I know, the UK currently only uses automated kiosks for UK/EU/EEA/Swiss citizens, and these are based on face recognition rather than fingerprints. Australian citizens will also be able to use these kiosks later this year, but it still won't capture fingerprints, and regardless, there aren't any automated kiosks at Eurostar terminals.
– MJeffryesMay 8 at 9:05